CINXE.COM

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> <html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta http-equiv="Content-Type" content="text/html; charset=gbk" /> <title>科学网—人形机器人的关键在于态势感知与势态知感的平衡 - 刘伟的博文</title> <meta name="keywords" content="人形机器人的关键在于态势感知与势态知感的平衡" /> <meta name="description" content="对于人形机器人来说，态势感知和势态知感的平衡是其高效、灵活和安全运作的关键。人形机器人作为复杂的智能系统，不仅需要具备与环境交互、完成任务的 ... ,科学网" /> <meta name="generator" content="Discuz! X3.3" /> <meta name="author" content="Discuz! Team and Comsenz UI Team" /> <meta name="copyright" content="2001-2017 Comsenz Inc." /> <meta name="MSSmartTagsPreventParsing" content="True" /> <meta http-equiv="MSThemeCompatible" content="Yes" /> <base href="https://blog.sciencenet.cn/" /><link rel="stylesheet" type="text/css" href="data/cache/style_1_common.css?qw2" /><link rel="stylesheet" type="text/css" href="data/cache/style_1_home_space.css?qw2" /><link rel="stylesheet" id="css_extstyle" type="text/css" href="./template/default/style/t1/style.css" /><script type="text/javascript">var STYLEID = '1', STATICURL = 'static/', IMGDIR = 'static/image/common', VERHASH = 'qw2', charset = 'gbk', discuz_uid = '0', cookiepre = 'WUAe_5e15_', cookiedomain = 'sciencenet.cn', cookiepath = '/', showusercard = '1', attackevasive = '0', disallowfloat = 'newthread', creditnotice = '', defaultstyle = './template/default/style/t1', REPORTURL = 'aHR0cDovL2Jsb2cuc2NpZW5jZW5ldC5jbi8vYmxvZy00MDg0MS0xNDYxMzQyLmh0bWw=', SITEURL = 'https://blog.sciencenet.cn/', JSPATH = 'static/js/', CSSPATH = 'data/cache/style_', DYNAMICURL = '';</script> <script src="static/blog/js/jquery-1.8.3.min.js" type="text/javascript"></script> <script src="static/js/common.js?qw2" type="text/javascript"></script> <script src="static/js/home.js?qw2" type="text/javascript"></script> <script type="text/javascript">  </script> <link rel="stylesheet" type="text/css" href="data/cache/style_1_css_space.css?qw2" /> <link id="style_css" rel="stylesheet" type="text/css" href="static/space/t1/style.css?qw2"> <style id="diy_style"></style> </head> <body id="space" onkeydown="if(event.keyCode==27) return false;"> <div id="append_parent"></div> <div id="ajaxwaitid"></div> <div class="topnav cl"> <p class="y navinf"> <a href="member.php?mod=register">注册</a> <span class="pipe">|</span><a href="member.php?mod=logging&action=login" onClick="showWindow('login', this.href);hideWindow('register');">登录</a> </p> <ul class="cl"> <li class="navlogo"><a href="http://blog.sciencenet.cn/blog.php" title="构建全球华人科学博客圈">构建全球华人科学博客圈</a></li>  <li><span id="navs" class="xg1 showmenu" onMouseOver="showMenu(this.id);"><a href="http://www.sciencenet.cn/">返回首页</a></span></li> <li><span id="wbnavs" class="xg1"><a href="http://blog.sciencenet.cn/home.php?mod=follow">微博</a></span></li> <li><span id="navs" class="xg1"><a href="https://blog.sciencenet.cn/rss.php?uid=40841">RSS订阅</a></span></li> <li><span id="navs" class="xg1"><a href="http://blog.sciencenet.cn/misc.php?mod=faq">帮助</a></span></li> </ul> </div> <div id="hd" class="wp cl"> <h2 id="spaceinfoshow">  <strong id="spacename" class="mbn" > twhlw的个人博客<a class="oshr xs1 xw0" onClick="showWindow(this.id, this.href, 'get', 0);" id="share_space" href="home.php?mod=spacecp&ac=share&type=space&id=40841">分享</a></strong> <a id="domainurl" href="http://blog.sciencenet.cn/u/twhlw" onClick="javascript:setCopy('http://blog.sciencenet.cn/u/twhlw', '博客地址复制成功');return false;" class="xs0 xw0">http://blog.sciencenet.cn/u/twhlw</a> <span id="spacedescription" class="xs1 xw0 mtn" ></span> </h2> <div id="nv"> <ul> <li><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841">博客首页</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=home&view=me&from=space">动态</a></li>    <li><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=blog&view=me&from=space">博文</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=video&view=view&from=space">视频</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=album&view=me&from=space">相册</a></li>   <li><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=friend&view=me&from=space">好友</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=wall">留言板</a></li>   </ul> </div> </div> <div class="p_pop h_pop" id="mn_userapp_menu" style="display: none"></div> <ul id="navs_menu" class="p_pop topnav_pop" style="display:none;"> <li id="mn_N59f6" ><a href="http://www.sciencenet.cn/" hidefocus="true" >首页</a></li> <li id="mn_N3b56" ><a href="http://news.sciencenet.cn/" hidefocus="true" >新闻</a></li> <li id="mn_Nd081" ><a href="http://blog.sciencenet.cn/blog.php" hidefocus="true" >博客</a></li> <li id="mn_N968f" ><a href="http://talent.sciencenet.cn/" hidefocus="true" >人才</a></li> <li id="mn_N9d75" ><a href="http://meeting.sciencenet.cn/" hidefocus="true" >会议</a></li> <li id="mn_N1867" ><a href="http://fund.sciencenet.cn/" hidefocus="true" >基金</a></li> <li id="mn_Nec23" ><a href="http://paper.sciencenet.cn/" hidefocus="true" >论文</a></li> <li id="mn_Nc1d1" ><a href="http://video.sciencenet.cn/" hidefocus="true" >视频</a></li> <li id="mn_Nffd8" ><a href="http://paper.sciencenet.cn/AInews" hidefocus="true" >小柯机器人</a></li> <li id="mn_home_13" ><a href="https://blog.sciencenet.cn/home.php?mod=space&do=album" hidefocus="true" title="Album" >相册<span>Album</span></a></li> <li id="mn_N0a2c" ><a href="misc.php?mod=faq" hidefocus="true" title="Help" >帮助<span>Help</span></a></li> </ul> <ul id="wbnavs_menu" class="p_pop topnav_pop" style="display:none;">  <li id="mn_N59g9"><a href="http://weibo.sciencenet.cn/?&act=follower" hidefocus="true">粉丝</a></li> <li id="mn_N59g9"><a href="http://weibo.sciencenet.cn/?&act=comments" hidefocus="true">评论</a></li> <li id="mn_N59g9"><a href="http://weibo.sciencenet.cn/?&act=atme" hidefocus="true">@我</a></li> <li id="mn_N59g9"><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=privacy&op=miniblog" hidefocus="true">提醒</a></li></ul> <ul id="myspace_menu" class="p_pop" style="display:none;"> <li><a href="https://blog.sciencenet.cn/home.php?mod=space">我的博客</a></li> </ul>  <style> em, cite { font-style:italic; } #blog_article span { float: none; } #blog_article th,#blog_article td { border: 1px solid #000; } p { margin: 1.12em 0; } .owner-switch { width: 28px; height: 14px; background-size: cover; display: inline-block; vertical-align: middle; background-image: url(/static/image/blog/owner.png); background-size: auto 14px; } .author-switch { width: 28px; height: 14px; background-size: cover; display: inline-block; vertical-align: middle; background-image: url(/static/image/blog/author.png); } .tips { border:3px solid #ccc; border-radius: 5px; background: rgba(255,255,255,1); font-size: 12px; position: absolute; top:50%; left: -620%; z-index: 99; width:300px; text-align:left; } .reveal{ display: inline-block; font-size: 14px; font-weight:bolder; color: #4e8a50; border-radius: 4px; height: 20px; line-height: 20px; text-align: center; padding: 10px; cursor: pointer; } </style> <link type="text/css" rel="stylesheet" href="/static/blog/css/zan.css"> <link type="text/css" rel="stylesheet" href="/static/blog/css/cai.css"> <script src="/static/js/jquery.lazyload.js" type="text/javascript"></script> <script type="text/javascript"> /* @author:Romey * 动态点赞 * 此效果包含css3，部分浏览器不兼容（如：IE10以下的版本） */ /* $(function(){ $(".praise").click(function(){ var choice = $(this).attr('id').valueOf(); cid = choice.split("_")[1]; //取得评论的cid var praise_img = $("#praise-img_"+cid); var text_box = $("#add-num_"+cid); var praise_txt = $("#praise-txt_"+cid); var num=parseInt(praise_txt.text()); if(praise_img.attr("src") == ("static/blog/images/yizan.png")){ $(this).html("<img src='static/blog/Images/zan.png' id='praise-img_" + cid + "' class='animation' />"); praise_txt.removeClass("hover"); text_box.show().html("<em class='add-animation'>-1</em>"); $(".add-animation").removeClass("hover"); num -=1; praise_txt.text(num) }else{ $(this).html("<img src='static/blog/images/yizan.png' id='praise-img_" + cid + "' class='animation' />"); praise_txt.addClass("hover"); text_box.show().html("<em class='add-animation'>+1</em>"); $(".add-animation").addClass("hover"); num +=1; praise_txt.text(num) } }); }) function getdata(url, id, action){ jQuery.getJSON(url, {type:'zancai', id:id, action:action, random:Math.random()}, function(data){ if(data.success==1){//投票成功 }else{ //$('#praise-txt_'+1461342).html(2000).show().css({'opacity':1,'top':'40px'}).animate({top:'-50px',opacity:0},"slow"); } }); } */ function dianzan(cid, blogid) { var tag = 0; var praise_img = jQuery("#praise-img_"+cid); var text_box = jQuery("#add-num_"+cid); var praise_txt = jQuery("#praise-txt_"+cid); var praise_txt_text = isNaN(praise_txt.text()) ? 0 : praise_txt.text(); var num=parseInt(praise_txt_text); if(praise_img.attr("src") == ("static/blog/images/zan.png")){ //取消赞 jQuery.ajax({ type:"GET", url:'misc.php', data:{type:'zancai', id:cid, blogid:blogid, action:'unzan'}, cache:false, dataType:"json", success:function(data){ if(data.success==1){//取消赞 jQuery("#praise_"+cid).html("<img src='static/blog/images/kong.png' id='praise-img_" + cid + "' class='animation' onclick='dianzan("+cid+","+blogid+");' />"); praise_txt.removeClass("hover"); text_box.show().html("<em class='add-animation'>-1</em>"); jQuery(".add-animation").removeClass("hover"); num -=1; praise_txt.text(num); tag = 1; }else if(data.success==0){//需要登录 showWindow('login', 'member.php?mod=logging&action=login'); //$('#praise-txt_'+1461342).html(2000).show().css({'opacity':1,'top':'40px'}).animate({top:'-50px',opacity:0},"slow"); }else{ //jQuery("#cuewords").text(data.msg); //jQuery("#disappare").show().delay(2000).fadeOut(); promptmsg(this, cid, data.msg); } } }); }else{ //添加赞 //进行数据库操作 jQuery.ajax({ type:"GET", url:'misc.php', data:{type:'zancai', id:cid, blogid:blogid, action:'zan'}, cache:false, dataType:"json", success:function(data){ if(data.success==1){//取消赞 jQuery("#praise_"+cid).html("<img src='static/blog/images/zan.png' id='praise-img_" + cid + "' class='animation' onclick='dianzan("+cid+","+blogid+");' />"); praise_txt.addClass("hover"); text_box.show().html("<em class='add-animation'>+1</em>"); jQuery(".add-animation").addClass("hover"); num +=1; praise_txt.text(num); }else if(data.success==0){//需要登录 showWindow('login', 'member.php?mod=logging&action=login'); //$('#praise-txt_'+1461342).html(2000).show().css({'opacity':1,'top':'40px'}).animate({top:'-50px',opacity:0},"slow"); }else{ //jQuery("#cuewords").text(data.msg); //jQuery("#disappare").show().delay(2000).fadeOut(); var msg = data.msg; if(data.msg == 'upgrade') { msg = '请进行实名认证审核，并<b><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=profile&op=upgrade">升级为博主用户</a></b>，方可进行此操作'; } promptmsg(this, cid, msg); } } }); } } function diancai(cid, blogid) { var tag = 0; var praise_img = jQuery("#praise2-img_"+cid); var text_box = jQuery("#add2-num_"+cid); var praise_txt = jQuery("#praise2-txt_"+cid); var praise_txt_text = isNaN(praise_txt.text()) ? 0 : praise_txt.text(); var num=parseInt(praise_txt_text); if(praise_img.attr("src") == ("static/blog/images/cai.png")){ //取消踩 jQuery.getJSON("misc.php?randID="+escape(new Date()), {type:'zancai', id:cid, blogid:blogid, action:'uncai', random:Math.random()}, function(data) { if(data.success==1){//取消赞 jQuery("#praise2_"+cid).html("<img src='static/blog/images/kong2.png' id='praise2-img_" + cid + "' class='animation' onclick='diancai("+cid+","+blogid+");' />"); praise_txt.removeClass("hover"); text_box.show().html("<em class='add-animation'>-1</em>"); jQuery(".add-animation").removeClass("hover"); num -=1; praise_txt.text(num); }else if(data.success==0){//需要登录 showWindow('login', 'member.php?mod=logging&action=login'); //$('#praise-txt_'+1461342).html(2000).show().css({'opacity':1,'top':'40px'}).animate({top:'-50px',opacity:0},"slow"); }else{ //jQuery("#cuewords").text(data.msg); //jQuery("#disappare").show().delay(2000).fadeOut(); promptmsg(this, cid, data.msg); } }); }else{ //添加踩 jQuery.getJSON("misc.php?randID="+escape(new Date()), {type:'zancai', id:cid, blogid:blogid, action:'cai', random:Math.random()}, function(data) { if(data.success==1){//点踩 jQuery("#praise2_"+cid).html("<img src='static/blog/images/cai.png' id='praise2-img_" + cid + "' class='animation' onclick='diancai("+cid+","+blogid+");' />"); praise_txt.addClass("hover"); text_box.show().html("<em class='add-animation'>+1</em>"); jQuery(".add-animation").addClass("hover"); num +=1; praise_txt.text(num); }else if(data.success==0){//需要登录 showWindow('login', 'member.php?mod=logging&action=login'); //$('#praise-txt_'+1461342).html(2000).show().css({'opacity':1,'top':'40px'}).animate({top:'-50px',opacity:0},"slow"); }else{ //jQuery("#cuewords").text(data.msg); //jQuery("#disappare").show().delay(2000).fadeOut(); promptmsg(this, cid, data.msg); } }); } } var promptmsg = function(e,cid,msg) { var doc = jQuery("#praise_"+cid); tips = jQuery('<div id="tips" class="tips"></div>'); doc.append(tips); var pageX = e.pageX, pageY = e.pageY; tips.html(msg).css({ top: pageY, left: pageX }).show().delay(5000).fadeOut(); } function dianzanuser(cid, uid) { //查询点赞者 var str = '<div style="padding:4px;">点赞人：'; jQuery.ajax({ type:"GET", url:'misc.php', data:{type:'dianusers', id:cid, uid:uid}, cache:false, dataType:"json", success:function(data){ if(data.success==1){ str += data.msg; str += '</div>'; promptmsg(this, cid, str); }else{ //jQuery("#cuewords").text(data.msg); //jQuery("#disappare").show().delay(2000).fadeOut(); } } }); } function showall(obj) { var cid = jQuery(obj).attr('rel'); jQuery("#showreplay_"+cid).animate({height: 'toggle', opacity: 'toggle'}, "slow"); jQuery(obj).hide(); jQuery("#showreplay_"+cid).append('<a class="reveal" id="hidereplay_'+cid+'" onclick="packup('+cid+');">收起</a>'); } function packup(cid) { jQuery("#showreplay_"+cid).hide(); jQuery("#lookover_"+cid).show(); jQuery("#hidereplay_"+cid).remove(); } jQuery(document).ready( function($){ $("img").lazyload({ placeholder : "/static/js/grey.gif", effect : "fadeIn", threshold : 200 }); }); </script> <div id="ct" class="ct2 wp cl"> <div class="mn"> <div class="bm"> <div class="bm_h cl"> <h1 class="mt"><span class="z">博文</span> </h1> </div> <div class="bm_c"> <div class="vw mbm"> <div class="h pbm"> <h1 class="ph"> 人形机器人的关键在于态势感知与势态知感的平衡 <a href="https://blog.sciencenet.cn/blog.php?mod=recommend"><img src="./static/image/blog/recommendico.gif" width="22px" height="22px" /><font style="font-size:14px; color:#930;" face="宋体">精选</font></a> </h1> <p class="xg2"> <span class="xg1">已有 4345 次阅读</span> <span class="xg1">2024-11-23 20:08</span> <span class="pipe">|</span><span class="xg1">个人分类:<a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=blog&classid=180124&view=me">2024</a></span><span class="pipe">|</span><span class="xg1">系统分类:<a href="https://blog.sciencenet.cn/home.php?mod=space&do=blog&view=all&uid=40841&catid=1">科研笔记</a></span> </p> </div> <div id="blog_article" class="d cl" ><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">对于</span><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">人形机器人</strong><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">来说，</span><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">态势感知</strong><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">和</span><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">势态知感</strong><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">的平衡是其高效、灵活和安全运作的关键。人形机器人作为复杂的智能系统，不仅需要具备与环境交互、完成任务的能力，还需要具备对不断变化环境的高度敏感性、适应性和预测能力。在这一过程中，态势感知和势态知感各自发挥着不同的作用，它们的平衡关系决定了机器人在实际应用中的表现和智能水平。</span></p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;"></span></p>1. <strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;">态势感知：理解环境的即时状况</strong><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;"></strong></p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;">态势感知</strong>（Situational Awareness, SA）指的是机器人实时、精准地感知和理解它所处的环境和当前状态。对于人形机器人，态势感知不仅包括对物理环境（如障碍物、道路、周围人的位置等）的感知，还需要考虑动态因素（如运动物体、环境变化等）。<strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">关键要素包括：</strong></p><ul class=" list-paddingleft-2" style="-webkit-tap-highlight-color: transparent; padding: 0px 0px 0px 1.2em; outline: 0px; max-width: 100%; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;">环境感知</strong>：</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;">通过传感器（如摄像头、激光雷达、传感器等）采集数据，识别和构建周围环境的三维模型。</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;">例如，人形机器人能够识别障碍物、行人、其他机器人等，并做出相应的反应。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;">对象识别与追踪</strong>：</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;">机器人需要精准识别和追踪动态或静态的物体，并理解其相对位置、运动状态等。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;">实时反馈</strong>：</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;">在不稳定或复杂的环境下，机器人需要实时反应并更新环境信息。</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;">比如，在动态环境下，机器人必须能立即察觉到突然出现的障碍物，并采取行动。</p></li></ul><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; visibility: visible; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; visibility: visible;">对于人形机器人，态势感知至关重要。</strong><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; text-align: left; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">在复杂的工作环境中（例如家庭、工厂或公共空间），人形机器人需要及时感知并适应环境中的变化，避免碰撞或误操作。</span><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; text-align: left; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em; visibility: visible;">在与人类互动时，机器人需要感知人的情绪、动作和意图，以做出合适的反应。</span></p>2. <strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">势态知感：预测、理解和适应变化</strong><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"></strong></p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">势态知感</strong>则进一步发展了态势感知的能力，它不仅仅是对当前环境的感知，更包括对未来状态的预测、对复杂变化的理解和应对。它要求机器人具备对时间维度的敏感性，并能够基于现有信息预测未来趋势，以便做出预判和主动调整。其<strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em;">关键要素包括：</strong></p><ul class=" list-paddingleft-2" style="-webkit-tap-highlight-color: transparent; padding: 0px 0px 0px 1.2em; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">时间感知与预测</strong>：</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;">机器人不仅要感知当前环境，还要能够根据历史数据和趋势预测未来的可能变化。</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;">例如，预测人类的行为（如是否准备离开房间，或者是否接近障碍物）并提前做好应对准备。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">适应与优化</strong>：</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;">在动态环境中，机器人需要通过自我调整、优化策略来适应不断变化的情况。</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;">例如，自动调整运动路径，或改变任务执行策略，以应对环境或任务的变化。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">决策能力与灵活应变</strong>：</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;">机器人在执行任务时，必须能够权衡多种可能性，并做出最佳决策。</p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;">比如，考虑到人的行为变化，机器人可能需要调整与人类的交互方式。</p></li></ul><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"></strong></p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">对于人形机器人，势态知感尤其重要</strong><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; text-align: left; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em;">在复杂的互动环境中（如与人类协作、家庭中照料老人等），机器人需要预测并理解环境的未来变化，做出主动反应，确保安全与高效。</span><span style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important; text-align: left; background-color: transparent; caret-color: var(--weui-BRAND); letter-spacing: 0.034em;">在处理多任务或复杂场景时，机器人需要根据不同情境的变化调整策略，保持灵活性。</span></p>3. <strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">态势感知与势态知感的平衡</strong><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"></strong></p><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;">虽然<strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">态势感知</strong>和<strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">势态知感</strong>各有侧重，但二者必须相辅相成，才能让人形机器人在复杂环境中表现出色。它们的平衡体现在以下几个方面：</p><ul class=" list-paddingleft-2" style="-webkit-tap-highlight-color: transparent; padding: 0px 0px 0px 1.2em; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">即时反应与预测调整的结合</strong>：态势感知帮助机器人实时了解当前的环境状态，而势态知感则让机器人不仅仅停留在对现状的感知层面，还能根据预测做出合理的提前准备。例如，机器人感知到前方有障碍物时，立即调整路径，但同时它也要预测障碍物是否会进一步靠近或变化，做好进一步调整的准备。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">反应速度与决策深度的权衡</strong>：人形机器人通常面临实时性和决策精度的双重要求。在某些情况下，机器人的反应必须足够快速，以避免意外（如躲避碰撞）；而在另一些情况下，机器人需要通过对环境变化的预测做出更深远的决策（如调整工作顺序、优化人机协作）。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">灵活性与稳定性的平衡</strong>：人形机器人需要灵活应对不断变化的环境，同时保持足够的稳定性。过于依赖态势感知可能导致反应过于敏捷，甚至出现过度反应的情况；而过度依赖势态知感则可能导致决策过于迟缓或过度复杂，影响实时操作。因此，在设计机器人时，如何平衡这两者的优缺点至关重要。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">情境感知与情境适应的结合</strong>：人形机器人不仅要理解当前环境，还要能够适应环境的变化，形成对情境的全面感知。比如，当机器人与人类互动时，它不仅需要感知当前的对话或行为，还需要根据情境和历史互动做出适应性判断，如判断人的情绪变化或行为模式，调整自己的互动方式。</p></li></ul>4. <strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">实际应用中的挑战</strong><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"></strong></p><ul class=" list-paddingleft-2" style="-webkit-tap-highlight-color: transparent; padding: 0px 0px 0px 1.2em; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;"><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">复杂环境中的感知精度与预测能力</strong>：在高度复杂的环境中（如家庭或公共场所），人形机器人可能面临多种干扰和不确定性，如人群、杂物、突然的运动物体等。如何提高机器人的态势感知能力，并结合势态知感预测未来情况，以有效避免碰撞、确保安全，是一大挑战。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">处理多任务时的优先级判断</strong>：人形机器人通常需要同时处理多项任务。在这种情况下，如何平衡即时的感知需求和长期的预测决策，选择最优的行动方案是一个关键问题。</p></li><li><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;"><strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">人机协作中的灵活应变</strong>：在人形机器人与人类合作的场景下，如何平衡机器人对于人的感知与预测，保证双方的协作既高效又安全，是势态知感与态势感知平衡的另一重要应用。</p></li></ul><p style="-webkit-tap-highlight-color: transparent; margin-top: 0px; margin-bottom: 0px; padding: 0px; outline: 0px; max-width: 100%; clear: both; min-height: 1em; box-sizing: border-box !important; overflow-wrap: break-word !important;">总之，人形机器人的<strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">态势感知</strong>和<strong style="-webkit-tap-highlight-color: transparent; margin: 0px; padding: 0px; outline: 0px; max-width: 100%; box-sizing: border-box !important; overflow-wrap: break-word !important;">势态知感</strong>之间的平衡，是实现其高效运作与智能行为的核心。通过及时准确的感知环境，结合对环境变化的预测与适应，机器人能够在复杂的动态环境中灵活应对、做出合适的决策。未来随着技术的进步，人形机器人将能够在更复杂、更动态的环境中展现出更高的智能与应变能力，从而推动机器人技术在医疗、服务、教育等领域的广泛应用。</p><p></p> <br /><br /> <label style="font-size:13px; color:#850f0f">转载本文请联系原作者获取授权，同时请注明本文来自刘伟科学网博客。<br />链接地址：</label><a href="https://blog.sciencenet.cn/blog-40841-1461342.html" target="_blank" style="font-size:13px; color:#850f0f">https://blog.sciencenet.cn/blog-40841-1461342.html </a> <br /><br />上一篇：<a href='blog-40841-1461116.html' target='_black'>如何实现势态知感是智能系统的关键</a><br />下一篇：<a href='blog-40841-1461614.html' target='_black'>态势感知中的韧性</a>  </div> <div id="click_div"><table cellpadding="0" cellspacing="0" class="atd"> <tr></tr> </table> <script type="text/javascript"> function errorhandle_clickhandle(message, values) { if(values['id']) { showCreditPrompt(); show_click(values['idtype'], values['id'], values['clickid']); } } </script> </div> <div class="o cl">   <div id="shareblog"></div>  <a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=favorite&type=blog&id=1461342&spaceuid=40841&handlekey=favoritebloghk_1461342" id="a_favorite" onclick="showWindow(this.id, this.href, 'get', 0);" class="oshr ofav">收藏</a>  IP: 123.119.249.*<span class="pipe">|</span> <a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=blog&blogid=1461342&op=edithot&handlekey=bloghothk_1461342" id="blog_hot_1461342" onclick="showWindow(this.id, this.href, 'get', 0);">热度</a><span class="pipe">|</span>  </div> </div> <div class="ct_vw cl">  <div> <div id="div_main_content" class="mbm">  <h4 class="bbs pbn"> <span><label>当前推荐数：</label><font color="#FF0000" id="recommendcount">1</font> <label style="margin-left:10px;" id="recommendtag">推荐人：</label> <span id="recommendbody"> <a href="https://blog.sciencenet.cn/home.php?mod=space&uid=437607" style="margin-right:5px; color:#360" title="zhengyongjun">郑永军</a> </span> </span> </h4> <div style="margin-bottom:20px;"> <p class="pns"> <button onclick="showWindow('login', 'member.php?mod=logging&action=login');hideWindow('register');"> 推荐到博客首页</button> </p> </div>  <h3 class="ptn pbn bbs"> <a onclick="showWindow('login', this.href);hideWindow('register');" href="member.php?mod=logging&action=login" class="y xi2 xw0">该博文允许注册用户评论 请点击登录</a> 评论 (<span id="comment_replynum">1</span> 个评论) </h3> <div id="comment_ul" class="xld xlda">  <a name="firstcomment"> </a> <div id="discusscontent" name="discusscontent" >数据加载中...</div> <div id="comment" style="text-align:right"> <a href="javascript:;" onclick="scrollTo(0,0);">返回顶部</a> </div> </div> </div>  <style type="text/css"> .bancomment { background-color: #EEE; padding-right: 30px; font-size: 12px; line-height:25px; padding: 3px 0; border-radius: 8px; color: #aaa; text-align: center; cursor: default; } </style> <div class="bancomment hidden-xs"><span id="banreplay" value=""></span></div> <script type="text/javascript"> function addFriendCall(){ var el = $('friendinput'); if(!el || el.value == "") return; var s = '<input type="checkbox" name="fusername[]" class="pc" value="'+el.value+'" id="'+el.value+'" checked="checked">'; s += ' <label for="'+el.value+'">'+el.value+'</label>'; s += '<br />'; $('friends').innerHTML += s; el.value = ''; } resizeImg('div_main_content','450'); var elems = selector('dd[class~=magicflicker]'); for(var i=0; i<elems.length; i++){ magicColor(elems[i]); } </script> <script type="text/javascript"> /* 方法一 function commentcontent(url) { var x = new Ajax('HTML', 'statusid'); x.get(url+'&inajax=1', function(s) { if(s.length>0) { $('discusscontent').innerHTML = s; } else $('discusscontent').innerHTML = '没有评论'; }); } window.onload = commentcontent('comment.php?mod=space&uid=40841&do=blog&id=1461342'); */ function commentcontent(uid, id) { //alert(uid); var formDara = "uid=" + uid + "&id=" + id; if(window.XMLHttpRequest) { var xmlReq = new XMLHttpRequest(); } else if(window.ActiveXObject) { var xmlReq = new ActiveXObject('Microsoft.XMLHTTP'); } xmlReq.onreadystatechange = function(){ //alert(xmlReq.readyState); if(xmlReq.readyState == 4) { if(xmlReq.responseText != '0') { //防止用户复制评论产生相同的discusscontent（id） var arrs = document.getElementsByName("discusscontent"); if(arrs.length==1) { document.getElementById('discusscontent').innerHTML = xmlReq.responseText; } else { arrs[arrs.length-1].innerHTML = xmlReq.responseText; } } else { return false; } } } xmlReq.open("post", "comment.php?mod=space&do=blog", false);//将true改为false xmlReq.setRequestHeader("Content-Type", "application/x-www-form-urlencoded"); xmlReq.send(formDara); return false; } //window.onload = commentcontent(40841, 1461342); //window.onload=function(){commentcontent(40841, 1461342);} function viewpage(p, id) { var formData = "page="+p; //p:翻页页码; id:博文id if(window.XMLHttpRequest) { var xmlReq = new XMLHttpRequest(); } else if(window.ActiveXObject) { var xmlReq = new ActiveXObject('Microsoft.XMLHTTP'); } //comment.php?mod=space&uid=40841&do=blog&id=1461342 //var formId = "id=414264"; //var formMod = "mod=space"; //var formUid = "uid=40247"; //var formDo = "do=blog"; xmlReq.onreadystatechange = function(){ if(xmlReq.readyState == 4) { document.getElementById('discusscontent').innerHTML = xmlReq.responseText; //location.href = location.href + "#firstcomment"; window.location.hash = firstcomment; } } xmlReq.open("post", "comment.php?id="+id, true); xmlReq.setRequestHeader("Content-Type", "application/x-www-form-urlencoded"); xmlReq.send(formData); //xmlReq.send(formId); //xmlReq.send(formMod); //xmlReq.send(formUid); //xmlReq.send(formDo); return false; } function pagegoto(id, pages) { var gopagenum = document.getElementById('skiptopage').value; if(pages == '') { return false; } if(gopagenum == '') { alert('请先输入您想转到的页码再进行跳转'); return false; } if(!isNaN(gopagenum)) { gopagenum = parseInt(gopagenum); if(gopagenum < 1) { gopagenum = 1; } if(gopagenum > pages) { gopagenum = pages; } viewpage(gopagenum, id); } else { alert('请输入数字，进行跳转'); } } commentcontent(40841, 1461342); function banreply(){ var banvalue = document.getElementById('banreplay').value; if(banvalue) { alert('该博文已超过48小时，暂停评论'); return false; } else return true; } jQuery(document).ready( function($){ if(!$("#banreplay").val()) $(".bancomment").hide(); //回复按钮只允许点击一次 $("#commentsubmit_btn").one("click",function(){ $(this).attr("disabled","disabled"); $(this).html('提交中'); $("#quickcommentform_1461342").submit(); }); //改写推荐到首页功能 $("#return_qcrecommend_1461342").bind('DOMNodeInserted', function(e) { var html = $(e.target).html(); var SCRIPT_REGEX = /<script\b[^<]*(?:(?!<\/script>)<[^<]*)*<\/script>/gi; var text = html.replace(SCRIPT_REGEX, ""); //正则替换为空 var arr = text.split('@'); if(arr[0] == '推荐成功') { //推荐成功提示 var num = parseInt($("#recommendcount").text()); $("#return_qcrecommend_1461342").text(arr[0]); //推荐数加1 $("#recommendcount").text(num+1); //推荐人显示 if($("#recommendcount").text()=='') { $("#recommendtag").html("推荐人"); $("#recommendbody").html(arr[1]); } else { $("#recommendbody").append(arr[1]); } } }); //渲染分享代码 $("#shareblog").html('<div style="text-align:left;float:left" class="bshare-custom"><div class="bsPromo bsPromo2"></div><a href="javascript:void(0);" class="bshare-weixin" title="分享到微信"></a><a href="javascript:void(0);" class="bshare-qqxiaoyou" title="分享到朋友网"></a><a class="bshare-qzone" title="分享到QQ空间"></a><a class="bshare-sinaminiblog" title="分享到新浪微博"></a><a class="bshare-qqmb" title="分享到腾讯微博"></a><a class="bshare-more bshare-more-icon more-style-addthis" title="更多平台"></a></div>'); /* jquery写法 var comment_cid = window.location.hash; var commentcid = comment_cid.slice(1); if(commentcid) { jQuery("#"+commentcid).parent().animate({height: 'toggle', opacity: 'toggle'}, "fast"); jQuery("#"+commentcid).parent().prev().hide(); } */ //window.onload = function(){ //js写法 //找到锚点 var comment_cid = window.location.hash.toString(); var commentcid = comment_cid.slice(1).toString(); var theNode = document.getElementById(commentcid); if(theNode.hasChildNodes()) { if(theNode.childNodes.length==1) { //alert(theNode.firstChild.nodeType); theNode.style.backgroundColor = "#E6E6B8"; theNode.previousElementSibling.style.marginBottom = "0px"; theNode.previousElementSibling.style.backgroundColor = "#E6E6B8"; theNode.previousElementSibling.previousElementSibling.style.backgroundColor = "#E6E6B8"; window.scrollTo(0, theNode.offsetTop+100); return false; } //获取第一个子节点 var first=theNode.children[0]; first.style.backgroundColor = "#E6E6B8"; //获取父节点元素 var prent = theNode.parentNode; prent.style.display = 'block'; //前一个元素节点 var pre = prent.previousElementSibling; pre.style.display = 'none'; } //} }); </script> </div> </div> </div> </div> </div> <div class="sd"><div> <div id="pcd" class="bm cl"> <div class="hm"> <p><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841"><img src="https://image-attachment.oss-cn-beijing.aliyuncs.com/data/www/html/uc_server/data/avatar/000/04/08/41_avatar_middle.jpg?v=" onerror="this.onerror=null;this.src='https://bbs.sciencenet.cn/uc_server/images/noavatar_middle.gif?v='" /></a></p> <h2 class="xs2"><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841">刘伟</a></h2> </div> <ul class="xl xl2 cl ul_list"> <li class="ul_add"><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=friend&op=add&uid=40841&handlekey=addfriendhk_40841" id="a_friend_li_40841" onclick="showWindow(this.id, this.href, 'get', 0);">加为好友</a></li> <li class="ul_contect"><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=wall">给我留言</a></li> <li class="ul_poke"><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=poke&op=send&uid=40841&handlekey=propokehk_40841" id="a_poke_40841" onclick="showWindow(this.id, this.href, 'get', 0);">打个招呼</a></li> <li class="ul_pm"><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=pm&op=showmsg&handlekey=showmsg_40841&touid=40841&pmid=0&daterange=2" id="a_sendpm_40841" onclick="showWindow('showMsgBox', this.href, 'get', 0)">发送消息</a></li> </ul> </div> </div> </div> <div class="sd" style="margin-top:1px;"> <div id="pcd" class="bm cl" style="padding-top:0px"> <div style="width:170px; margin:0 auto;text-align:center;"> <script src="/static/js/qrcode.min.js" type="text/javascript"></script> 扫一扫，分享此博文<br> <div id="qrcodeb" style="text-align:center"></div> <script> var qrcode = new QRCode('qrcodeb', { text: 'http://wap.sciencenet.cn/blog-40841-1461342.html?mobile=1', width: 170, height: 170, colorDark : '#000000', colorLight : '#ffffff', correctLevel : QRCode.CorrectLevel.H }); </script> </div> <div style="width:170px">  <div class="mbm cl"> <h2 class="mbm ptn pbn bbs"><span class="xs1 xw0 y"><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=blog&view=me&handpick =1">全部</a></span>作者的精选博文</h2> <ul class="xl xl1 cl"><li>• <a href="blog-40841-1461768.html" target="_blank">目前，人工智能依然很难带来教育的革命</a></li> <li>• <a href="blog-40841-1461614.html" target="_blank">态势感知中的韧性</a></li> <li>• <a href="blog-40841-1461116.html" target="_blank">如何实现势态知感是智能系统的关键</a></li> <li>• <a href="blog-40841-1461046.html" target="_blank">人类的意识更偏向势态知感，而不是态势感知</a></li> <li>• <a href="blog-40841-1460807.html" target="_blank">智能教育不同于智能学习</a></li> </ul> </div>  <div class="mbm cl"> <h2 class="mbm ptn pbn bbs"><span class="xs1 xw0 y"><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=40841&do=blog&view=me">全部</a></span>作者的其他最新博文</h2> <ul class="xl xl1 cl"><li>• <a href="blog-40841-1461934.html" target="_blank">人们的认知是从势到态还是从态到势</a></li> <li>• <a href="blog-40841-1461768.html" target="_blank">目前，人工智能依然很难带来教育的革命</a></li> <li>• <a href="blog-40841-1461614.html" target="_blank">态势感知中的韧性</a></li> <li>• <a href="blog-40841-1461116.html" target="_blank">如何实现势态知感是智能系统的关键</a></li> <li>• <a href="blog-40841-1461046.html" target="_blank">人类的意识更偏向势态知感，而不是态势感知</a></li> </ul> </div>  <div class="mbm cl"> <h2 class="mbm ptn pbn bbs"><span class="xs1 xw0 y"><a href="https://blog.sciencenet.cn/blog.php?mod=recommend">全部</a></span>精选博文导读</h2> <ul class="xl xl1 cl"><li><span class="xl1_elp">• <a href="blog-45-1460788.html" target="_blank">问答之间｜idea被别人做过，要转变方向吗？</a></span></li> <li><span class="xl1_elp">• <a href="blog-3411509-1461770.html" target="_blank">上海交大郭益平课题组：用于结构健康监测和机器人感知的超高灵敏度各向异性压电传感器</a></span></li> <li><span class="xl1_elp">• <a href="blog-374215-1461918.html" target="_blank">给课堂以想象的空间</a></span></li> <li><span class="xl1_elp">• <a href="blog-3574014-1461034.html" target="_blank">愈合心灵的科学之旅：JCR Q1期刊European Journal of Psychotraumatology</a></span></li> <li><span class="xl1_elp">• <a href="blog-52727-1461902.html" target="_blank">关于基金申请再说几句多余的废话</a></span></li> <li><span class="xl1_elp">• <a href="blog-3534092-1461889.html" target="_blank">中南大学文青波/王雅雷/熊翔教授团队：多元超高温纳米复相陶瓷无氧先驱体制备新方法</a></span></li> </ul> </div> </div> </div> </div> </div> <SCRIPT type=text/x-mathjax-config> MathJax.Hub.Config({"HTML-CSS": { preferredFont: "TeX", availableFonts: ["STIX","TeX"], linebreaks: { automatic:true }, EqnChunk: (MathJax.Hub.Browser.isMobile ? 10 : 50) }, tex2jax: { inlineMath: [ ["$", "$"], ["\\\$","\\\$"] ], displayMath: [ ["$$","$$"], ["\\[", "\\]"] ], processEscapes: true, ignoreClass: "tex2jax_ignore|dno" }, TeX: { noUndefined: { attributes: { mathcolor: "red", mathbackground: "#FFEEEE", mathsize: "90%" } } }, messageStyle: "none" }); </SCRIPT> <script type="text/javascript"> //增加监听，延迟加载外部js文件 if (window.addEventListener){ window.addEventListener("load", loadScript, false); }else if (window.attachEvent){ window.attachEvent("onload", loadScript); }else { window.onload = loadScript; } function loadScript(){ var myScript=document.createElement("script"); myScript.type="text/javascript"; //myScript.charset="utf-8"; myScript.src="https://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS_HTML"; document.body.appendChild(myScript); } </script>  <script src="https://blog.sciencenet.cn/static/js/buttonLite.js#style=-1&uuid=3e911bff-2140-46cc-81cb-ccaf1edd9b1b&pophcol=2&lang=zh" type="text/javascript"></script> <script src="https://blog.sciencenet.cn/static/js/bshareC0.js" type="text/javascript"></script> </div> <div id="ft" class="wp cl"> <div id="flk" class="y"> <p> <a href="https://bbs.sciencenet.cn/archiver/" >Archiver</a><span class="pipe">|</span><a href="http://wap.sciencenet.cn" >手机版</a><span class="pipe">|</span><strong><a href="https://www.sciencenet.cn" target="_blank">科学网</a></strong> ( <a href="https://beian.miit.gov.cn/" target="_blank">京ICP备07017567号-12</a> )<span style="display:none"> <script type="text/javascript"> var _bdhmProtocol = (("https:" == document.location.protocol) ? " https://" : " http://"); document.write(unescape("%3Cscript src='" + _bdhmProtocol + "hm.baidu.com/h.js%3Fcbf293a46e1e62385b889174378635f1' type='text/javascript'%3E%3C/script%3E")); </script> </span></p> <p class="xs0"> GMT+8, 2024-11-27 18:10<span id="debuginfo"> </span> </p> </div> <div id="frt"> <p>Powered by <strong><a href="http://www.sciencenet.cn" target="_blank">ScienceNet.cn</a></strong><em></em></p> <p class="xs0">Copyright © 2007-<script type="text/javascript">var Date22 = new Date();var year22 = Date22.getFullYear();document.write(year22);</script> <a href="http://www.stimes.cas.cn" target="_blank">中国科学报社</a></p> </div></div>  <ul id="usersetup_menu" class="p_pop" style="display:none;"> <li><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=avatar">修改头像</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=profile">个人资料</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=profile&op=verify">认证</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=credit">积分</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=usergroup">用户组</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=privacy">隐私筛选</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=spacecp&ac=profile&op=password">密码安全</a></li> </ul>                <ul id="myprompt_menu" class="p_pop" style="position: absolute; z-index: 301; left: 0px; top: 278px; display: none;">    <li><a href="https://blog.sciencenet.cn/home.php?mod=space&uid=0&do=blog&view=com">我收到的评论/回复 </a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=space&do=blog&view=com&order=mycom">我发表的评论/回复 </a></li>       <li><a href="https://blog.sciencenet.cn/home.php?mod=space&do=notice&view=mypost&type=at">查看@我</a></li> <li><a href="https://blog.sciencenet.cn/home.php?mod=space&do=notice&view=interactive">查看其他</a></li>  </ul> <div id="g_upmine_menu" class="g_up" style="display:none;"> <div class="crly"> 积分 0, 距离下一级还需积分 </div> <div class="mncr"></div> </div>  <script src="home.php?mod=misc&ac=sendmail&rand=1732702248" type="text/javascript"></script> <div id="scrolltop"> <span hidefocus="true"><a title="返回顶部" onclick="window.scrollTo('0','0')" class="scrolltopa" ><b>返回顶部</b></a></span> </div> <script type="text/javascript">_attachEvent(window, 'scroll', function () { showTopLink(); });checkBlind();</script> <div id="discuz_tips" style="display:none;"></div> <script type="text/javascript"> var tipsinfo = '|X3.3|0.6||0||0|7|1732702248||2'; </script> </body> </html>